Robot apparatus, and behavior controlling method for robot apparatus

ABSTRACT

A robot ( 1 ) is provided which includes a situated behaviors layer (SBL) ( 58 ). This SBL ( 58 ) is formed in the form of a tree structure in which a plurality of schemata (behavior modules) is connected hierarchically in such a matter that the schemata are highly independent of each other for each of them to behave uniquely. A patent schema can define a pattern in which child schemata are connected, such as an OR type pattern in which the child schemata are caused to behave uniquely, AND type pattern in which the plurality of child schemata are caused to behave simultaneously or a SEQUENCE type pattern indicating a sequence in which the plurality of child schemata should behave, thereby permitting to select a behavior pattern of the robot ( 1 ). Also, a new child schema can additionally be included in the SBL ( 58 ) without having to rewrite the schemata connection in the tree structure, whereby a new behavior or function can be added to the robot ( 1 ). Namely, the plurality of behavior modules permits to enable the robot ( 1 ) to show a complicated behavior and have units thereof recombined.

BACKGROUND OF THE INVENTION

[0001] 1. Field of the Invention

[0002] The present invention generally relates to a robot apparatuswhich can behave autonomously to have realistic communications with theuser and a method of controlling the behavior of the robot apparatus,and more particularly to an autonomous robot apparatus which canrecognize surroundings thereof including images and sounds and behaveitself in response to such conditions, and a behavior control method forthe robot apparatus.

[0003] This application claims the priority of the Japanese PatentApplication No. 2002-257097 filed on Sep. 2, 2002, the entirety of whichis incorporated by reference herein.

[0004] 2. Description of the Related Art

[0005] A machine or device capable of performing like a human being(animal) by electrical or magnetic operations is called “robot”. InJapan, the robots had started prevailing in the late 1960s. Many of therobots were industrial robots such as manipulators, transport robots andthe like intended for automation, unmanning, etc. of the factoryproduction lines.

[0006] Recently, there have been developed utility robots which supportthe human life as a partner of the human being, that is, support thehuman activities in the residential environment and other daily livingsituations. Different from the industrial robots, the utility robotshave abilities of autonomically learning how to adapt themselves tohuman beings different in personality from each other in various aspectsof the human beings' living environments or to various environments orto various environments. There are being put to practical use the “pet”robots simulating the physical mechanism and behaviors (motions oractions) of a quadrupedal walking animal such as a dog or cat and the“humanoid” robots designed based on the physical mechanism and behaviorsof the human being or the like walking on two feet, for example.

[0007] Since the above “pet” and “humanoid” robots can perform variousbehaviors designed with major consideration to the entertainment ascompared with the industrial robots, they are often called“entertainment robots”. Some of the entertainment robots autonomouslybehave adaptively to external information and internal status.

[0008] Generally, the robot of such an autonomous type selects asequence of behaviors correspondingly to change in environmentsincluding images and sounds. Also, some of the autonomous robots haveother behavior selection mechanisms which models emotions such asinstinct and feeling for managing the internal status of the system andselecting a behavior correspondingly to a change of the internal status.It should be noted that the system internal status is changed as theenvironment changes and also when the robot does the selected behavior.

[0009] Since a robot has to be designed with considerations given toresources such as a hardware and software and required behavior of therobot, many of behavior modules are implemented on demand.

[0010] Actually, a behavior as a whole can be implementedmonolithically, that is, by one software module. To implement a morecomplicated behavior, however, a behavior may be modularized, namely, itmay be decomposed into a plurality of modules to implement the behaviorby interactions among the modules.

[0011] However, when any one of the modules is used to implement anotherbehavior, the procedure of interaction between the modules and themodules themselves have to radically be rewritten for that purpose insome cases. The modules are difficult to recombine.

OBJECT AND SUMMARY OF THE INVENTION

[0012] It is therefore an object of the present invention to overcomethe above-mentioned drawbacks of the related art by providing a robotapparatus capable of implementing a complicated behavior by a pluralityof behavior modules and in which modules can easily be recombined, and abehavior control method for the robot apparatus.

[0013] The above object can be attained by providing a robot apparatuscomprising:

[0014] means for recognizing the environment around the robot apparatus;

[0015] means for managing an internal status of the robot apparatusaccording to the recognized environment and/or a behavior of the robotapparatus; and

[0016] a plurality of performing means for performing behaviors of therobot apparatus according to the environment and/or internal status,each of the behaviors being performed respectively, wherein

[0017] the plurality of performing means are constructed bytree-structure according to levels of the behaviors of the robotapparatus, and

[0018] lower-order ones of the performing means in the tree-structureperform behaviors of the robot apparatus based on behavior informationwhich is set by higher-order ones of the performing means in thetree-structure where the lower-order ones of the performing means areconnected.

[0019] The “behavior information” referred to herein includesinformation about targets of the behaviors and what the behaviors are.

[0020] Also the above object can be attained by providing a robotapparatus comprising:

[0021] means for recognizing the environment around the robot apparatus;

[0022] means for managing an internal status of the robot apparatusaccording to the recognized environment and/or a behavior of the robotapparatus; and a plurality of performing means for performing behaviorsof the robot apparatus according to the environment and/or internalstatus, each of the behaviors being performed respectively, wherein

[0023] the plurality of performing means are constructed bytree-structure according to levels of the behaviors of the robotapparatus,

[0024] higher-order ones of the performing means in the tree-structureare able to set a connection pattern of lower-order ones of theperforming means in the tree-structure, and

[0025] the lower-order ones of the performing means perform behaviorsaccording to the connection pattern.

[0026] As the “connection pattern”, there is available a one indicatinga behavior sequence of the plurality of lower-order ones of theperforming means, a one indicating that the plurality of lower-orderones of the performing means are caused to move simultaneously or a oneindicating that each of the lower-order ones of the performing meansperforms behaviors respectively.

[0027] In the above robot apparatus, the performing means whichrespectively perform behaviors, are highly independent of each other,and the performing means perform behaviors based on behavior informationwhich is set by higher-order ones of the performing means. Also,higher-order ones of the performing means are able to set a connectionpattern of lower-order ones of the performing means, and the lower-orderones of the performing means perform behaviors according to theconnection pattern.

[0028] Also the above object can be attained by providing a behaviorcontrolling method for a robot apparatus, wherein

[0029] the method comprising a plurality of performing modules forperforming behaviors of the robot apparatus respectively according torecognized environment around the robot apparatus, and/or an internalstatus of the robot apparatus according to the recognized environmentand/or a behavior of the robot apparatus,

[0030] the plurality of performing modules are constructed bytree-structure according to levels of the behaviors of the robotapparatus, and

[0031] lower-order ones of the performing modules in the tree-structureperform behaviors of the robot apparatus based on behavior informationwhich is set by higher-order ones of the performing modules in thetree-structure where the lower-order ones of the performing modules areconnected.

[0032] The “behavior information” referred to herein includesinformation about targets of the behaviors and what the behaviors are.

[0033] Also the above object can be attained by providing a behaviorcontrolling method for a robot apparatus, wherein

[0034] the method comprising a plurality of performing modules forperforming behaviors of the robot apparatus respectively according torecognized environment around the robot apparatus, and/or an internalstatus of the robot apparatus according to the recognized environmentand/or a behavior of the robot apparatus,

[0035] the plurality of performing modules are constructed bytree-structure according to levels of the behaviors of the robotapparatus,

[0036] higher-order ones of the performing modules in the tree-structureare able to set a connection pattern of lower-order ones of theperforming modules in the tree-structure, and

[0037] the lower-order ones of the performing modules perform behaviorsaccording to the connection pattern.

[0038] As the “connection pattern”, there is available a one indicatinga behavior sequence of the plurality of lower-order ones of theperforming modules, a one indicating that the plurality of lower-orderones of the performing modules are caused to move simultaneously or aone indicating that each of the lower-order ones of the performingmodules performs behaviors respectively.

[0039] In the above behavior controlling method for a robot apparatus,the performing modules which respectively perform behaviors, are highlyindependent of each other, and the performing modules perform behaviorsbased on behavior information which is set by higher-order ones of theperforming modules. Also, higher-order ones of the performing modulesare able to set a connection pattern of lower-order ones of theperforming modules, and the lower-order ones of the performing modulesperform behaviors according to the connection pattern.

[0040] These objects and other objects, features and advantages of thepresent invention will become more apparent from the following detaileddescription of the preferred embodiments of the present invention whentaken in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0041]FIG. 1 is a perspective view of the robot apparatus according tothe present invention, showing the appearance and construction of therobot apparatus;

[0042]FIG. 2 schematically illustrates a degree-of-freedom constructionmodel of the robot apparatus shown in FIG. 1;

[0043]FIG. 3 is a block diagram of the robot apparatus;

[0044]FIG. 4 shows a basic architecture of the behavior control systemincluded in the robot apparatus to control behaviors of the robotapparatus;

[0045]FIG. 5 schematically illustrates objects of the behavior controlsystem;

[0046]FIG. 6 schematically illustrates a mode of situated behaviorcontrol by a situated behaviors layer of the behavior control system;

[0047]FIG. 7 schematically illustrates the situated behaviors layercomposed of a plurality of schemata;

[0048]FIG. 8 schematically illustrates a tree structure of the schemataincluded in the situated behaviors layer;

[0049]FIG. 9 shows the tree structure having added thereto focusinformation for each schema;

[0050]FIG. 10 shows a sub-tree structure of an Approach Target behaviorin which Tracking and Approach schemata are focused on differenttargets, respectively;

[0051]FIG. 11 schematically illustrates behaviors of the robot apparatuswhen Tracking and Approach schemata are focused on different targets,respectively;

[0052]FIG. 12 shows a sub-tree structure of the Approach Target behaviorin which the Approach Target schema sets the same focus for the Trackingand Approach schemata;

[0053]FIG. 13 shows a sub-tree structure of a Search Target behavior inwhich child schemata are connected in an OR type pattern;

[0054]FIG. 14 shows a tree-structure of the Approach Target behavior inwhich child schemata are connected in an AND type pattern;

[0055]FIG. 15 shows a sub-tree structure of the Approach Target behaviorin which the Approach Target schema sets the same focus for the childschemata;

[0056]FIG. 16 schematically illustrates a behavior of the robotapparatus when the Approach Target schema sets the same focus for thechild schemata;

[0057]FIG. 17 shows a tree structure in which the Search Target schema,Approach Target schema and a Dialogue schema are connected in a SEQUENCEtype pattern;

[0058]FIG. 18 shows a sub-tree structure of the Approach Target behaviorin which a Navigation schema is disposed subordinately to the Approachschema; and

[0059]FIG. 19 schematically illustrates a behavior of the robotapparatus when the Navigation schema is disposed subordinately to theApproach schema.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0060] An embodiment of the present invention will be described indetail below with reference to the accompanying drawings.

[0061] The embodiment of the present invention is a bipedal walkingrobot. This robot is a utility robot which can help the human activitiesin various living environments and various phases of daily life, and itis also an entertainment robot capable of behaving adaptively to aninternal status (anger, sadness, joy, happiness, etc.) and alsoperforming the basic behaviors (motions or actions) of a human being.

[0062] Referring now to FIG. 1, the bipedal walking robot according tothe present invention is schematically illustrated in the form of aperspective view. As shown, the robot, generally indicated with areference 1, consists of a body unit 2, head unit 3, two arm units,right and left, 4R and 4L and two leg units, right and left, 5R and 5L.The head unit 3 is coupled in place to the body unit 2, and the armunits 4R and 4L and leg units 5R and 5L are coupled in place to the bodyunit 2. It should be noted that the “R” and “L” stand for “right” and“L”, respectively, and so the arm units 4R and 4L, for example, will bereferred to as “arm units 4R/L” hereunder wherever appropriate.

[0063] The robot 1 has degrees of freedom as schematically illustratedin FIG. 2. The neck unit 3 has three degrees of freedom including a neckjoint yaw axis 101, neck joint pitch axis 102 and a neck joint roll axis103.

[0064] Each of the arm units 4R/L forming the upper limbs has a shouldjoint pitch axis 107, shoulder joint roll axis 108, upper arm yaw axis109, elbow joint pitch shaft 110, lower arm yaw axis 111, wrist jointpitch axis 112, wrist joint roll axis 113 and a hand 114. The hand 114is actually a multi-joint, multi-degrees-of-freedom structure includinga plurality of fingers. Since any behavior of the hand 114 is lesscontributed to, or less influences, the control of the posture andwalking of the robot 1, however, the hand 114 is assumed herein to haveno degree of freedom. Therefore, each of the arm units 4R/L has sevendegrees of freedom.

[0065] Also, the body unit 2 three degrees of freedom including a bodypitch axis 104, body roll axis 105 and a body yaw axis 106.

[0066] Each of the leg units 5R/L forming the lower limbs has a hipjoint yaw axis 115, hip joint pitch axis 116, hip joint roll axis 117,knee joint pitch axis 118, ankle joint pitch axis 119, ankle joint rollaxis 120 and a foot 121. It is assumed herein that the intersectionbetween the hip joint pitch axis 116 and hip joint roll axis 117 definesthe hip joint position of the robot 1. It should be noted that althoughthe foot 121 of the human being is actually a structure including a solehaving multiple joints and multiple degrees of freedom, the foot sole ofthe robot 1 is assumed herein to have no degree of freedom. Therefore,each of the leg-units 5R/L has six degrees of freedom.

[0067] Namely, the robot 1 has a total of thirty two degrees of freedom(=3+7×0.2+3+6×2). However, the entertainment robot 1 is not alwayslimited to the thirty two degrees of freedom. Depending upon theconstraints in designing and manufacture and required specifications,the number of degrees of freedom, that is, joints, may of course beincreased or decreased appropriately.

[0068] Each of the above degrees of freedom the robot 1 has is actuallyimplemented by an actuator. The actuator should desirably be small andlightweight to meet the requirements that the robot 1 should be formedto have a shape near the human being's natural shape with as lessexcessive bulging-out as possible and the posture of the bipedal walkingrobot as an unstable structure should be well controllable.

[0069]FIG. 3 schematically illustrates a control system included in therobot 1. As shown, the robot 1 includes the body unit 2, head unit 3 andthe arm units 4R/L and leg units 5R/L as the four limbs of a humanbeing, and a control unit 10 which provides an adaptive control forcoordinating behaviors of the bodily units.

[0070] The control unit 10 makes centralized control over the behaviorsof the robot 1 as a whole. The control unit 10 is composed of a maincontroller 111 including main circuit components such as a CPU (centralprocessing unit), DRAM, flash ROM, etc., and a peripheral circuit 12including a power circuit; interfaces (not shown) for transfer of dataand commands to and from various components of the robot 1, etc.

[0071] The control unit 10 may not be installed in any limited location.Although the control unit 10 is installed in the body unit 2 as shown inFIG. 3, it may be installed in the head unit 3. Alternatively, thecontrol unit 10 may be disposed outside the robot 1 in such a mannerthat it can make cable or wireless communications with the robot 1.

[0072] Each of the degrees of freedom in the robot 1, shown in FIG. 2,is implemented by an actuator. That is, the head unit 3 has a neck jointyaw-axis actuator A₂, neck joint pitch-axis actuator A₃ and a neck jointroll-axis actuator A₄ for the neck joint yaw axis 101, neck joint pitchaxis 102 and neck joint roll axis 103, respectively.

[0073] In addition, the head unit 3 is provided with a CCD(charge-coupled device) camera to capture external situations, adistance sensor to measure the distance to an object existing in frontof the robot 1, a microphone to collect external sounds, a speaker toprovide output sounds, a touch sensor to detect a pressure applied dueto an physical action such as “patting” or “hitting” by the user, etc.

[0074] The body unit 2 has a body pitch-axis actuator A₅, body roll-axisactuator. A₆ and a body yaw-axis actuator A₇ for the body pitch axis104, body roll axis 105 and body yaw axis 106, respectively. Also, thebody unit 2 has installed therein a battery which supplies a power tothe robot 1. The battery is a rechargeable one.

[0075] The arm units 4R/L are composed of upper arm units 4 ₁R/L, elbowjoint units 4 ₂R/L and a lower arm units 4 ₃R/L, respectively, and eachof the upper arm units 4R/L has a shoulder joint pitch-axis actuator A₈,shoulder joint roll-axis actuator A₉, upper arm yaw-axis actuator A₁₀,elbow joint pitch-axis actuator A₁₁, elbow joint roll-axis actuator A₁₂,wrist joint pitch-axis actuator A₁₃ and a wrist joint roll-axis actuatorA₁₄ for the shoulder joint pitch axis 107, shoulder joint roll axis 108,upper arm yaw axis 109, elbow joint pitch shaft 110, lower arm yaw axis111, wrist joint pitch axis 112 and wrist joint roll axis 113,respectively.

[0076] The leg units 5R/L are composed of femoral units 5 ₁R/L, kneeunits 5 ₂R/L and tibial units 5 ₃R/L, respectively, and each of the legunits 5R/L has a hip joint yaw-axis actuator A₁₆, hip joint roll-axisactuator A₁₇, hip-joint roll-axis actuator A₁₈, knee joint pitch-axisactuator A₁₉, ankle joint pitch-axis actuator A₂₀ and an ankle jointroll-actuator A₂₁ for the hip joint yaw axis 115, hip joint pitch axis116, hip joint roll axis 117, knee joint pitch axis 118, ankle jointpitch axis 119 and ankle joint roll axis 120, respectively. Each of theactuators A₂, A₃, . . . used for the joints should preferably beformable from a small AC servo actuator connectable directly to a gear,having a servo control system formed as a single chip, and built in amotor unit.

[0077] The component units such as the body unit 2, head unit 3, armunits 4R/L and leg units 5R/L are provided with sub controllers 20, 21,22R/L and 23R/L, respectively, to drive and control the correspondingactuators. Further, the leg units 5R/L are provided with grounding checksensors 30R/L, and the body unit 2 has installed therein a posturesensor 31 to measure the posture of the robot 1.

[0078] The grounding check sensor 30R/L is formed from a proximitysensor or microswitch provided on the foot sole. The posture sensor 31is formed from a combination of an acceleration sensor and gyro sensor.

[0079] Outputs from the grounding check sensors 30R/L show whether eachof the right and left feet of the robot 1 walking or running iscurrently on or off the ground. Also, an output from the posture sensor31 shows an inclination or posture of the body unit of the robot 1.

[0080] In response to the outputs from the sensors 30R/L and 31, themain controller 11 can correct a controlled target dynamically. Morespecifically, the main controller 11 makes an adaptive control of thesub controllers 20, 21, 22R/L and 23R/L to provide a whole-body behaviorpattern in which the upper limbs, body and lower limbs of the robot 1are coordinately driven.

[0081] That is, the main controller 11 in the robot 1 sets a footbehavior, zero moment point (ZMP) orbit, body behavior, upper-limbbehavior, waist height, etc. set for a whole-body behavior, generatescommands for operations of the actuators are generated correspondinglyto the settings and transfer the commands to the sub controllers 20, 21,22R/L and 23R/L. The sub controllers 20, 21, . . . interpret thecommands received from the main controller 11 and provide adrive/control signal to each of the actuators A₂, A₃ . . . . The term“ZMP” refers to a point on the flow where the moment caused by the floorreaction force during walking of the robot 1 is zero, and the term “ZMPorbit” is an orbit along which ZMP moves during walking of the robot 1,for example. It should be noted that the concept of ZMP and applicationof ZMP to the stability criterion of walking robots are referred to the“Legged Locomotion Robots” by Miomir Vukobratovic.

[0082] As above, in the robot 1, the sub controllers 20, 21, . . .interpret commands received from the main controller 11, and provide adrive/control signal to each of the actuators A₂, A₃, . . . to controlof the operation of each unit. Thus, the robot 1 can shift to a targetposture stably and walk in a stable posture.

[0083] The control unit 10 of the robot 1 controls the posture as above,makes centralized processing of video information from various sensorsincluding the acceleration sensor, touch sensor, grounding check sensor,etc. and CCD camera and audio information etc. from the microphone. Thecontrol unit 10 is connected to the main controller 11 via hubs (notshown) various sensors such as the acceleration sensor, gyro sensor,touch sensor, distance sensor, microphone, speaker, etc., actuators, CCDcamera and the battery correspond to.

[0084] The main controller 11 sequentially acquires sensor data suppliedfrom the aforementioned sensors, video data and audio data, and storesthese data into place in a DRAM via an internal interface. Also, themain controller 11 is sequentially supplied with data on battery'sresidual potential from the battery and stores into place in the DRAM.The sensor data, video data and audio data, battery's residual potentialdata, stored in the DRAM, are utilized by the main controller 11 incontrolling the behaviors of the robot 1.

[0085] In the initial status after the robot 1 is turned on, the maincontroller 11 reads a control program and stores it into the DRAM. Also,the main controller 11 measures, based on the sensor data, video andaudio data, battery's residual potential data sequentially stored in theDRAM from the main controller 11, the internal and external statuses andwhether the user has given an instruction to, or has acted on, the robot1.

[0086] Further, the main controller 11 selects a behavior depending uponits internal status according to the result of judgement and the controlprogram stored in the DRAM, and causes the robot 1 to make a “gesture”by driving corresponding actuators correspondingly to the selectedbehavior.

[0087] As above, the robot. 1 can control its behavior adaptively to theresult of recognition of any external stimulus and internal status underthe control program. FIG. 4 schematically illustrates the basicarchitecture of a behavior control system 50 adopted in the robot 1.

[0088] The behavior control system 50 illustrated can employ anobject-oriented programming. In this case, each software is handled as amodule unit called “object” being an integration of data (property) anda procedure (method) for processing the data. Each object permits totransfer the property and take over the method by a messagecommunication and an inter-object communication using a common memory.

[0089] To recognize an environment 61, the behavior control system 50includes a visual recognition block (Video) 51, audio recognition block(Audio) 52 and a tactile recognition block 53.

[0090] The visual recognition block (Video) 51 makes image recognitionssuch as facial recognition and color recognition on the basis of acaptured image supplied via an image input unit such as a CCD andextracts features of the image. The visual recognition block 51 iscomposed of a plurality of objects such as “Multi-Color Tracker”, “FaceDetector” and “Face Identify” which will further be described later.

[0091] The audio recognition block (Audio) 52 recognizes audio datasupplied via an audio input unit such as a microphone, extracts featuresof the audio data, and recognizes a set of words (text). The audiorecognition block 52 is composed of a plurality of objects such as“Audio Recog” and “Speech Recog” which will further be described later.

[0092] The tactile recognition block (Tactile) 53 receives touch sensorfrom the touch sensor built in the head unit or the like to recognize anexternal stimulus such as “being patted” or “being hit”.

[0093] The internal-status manager (ISM) 54 has an instinct model andemotion model, which manage the internal status such as instinct andemotion of the robot 1 correspondingly to external stimuli (ES)recognized by the aforementioned visual recognition block 51, audiorecognition block 52 and tactile recognition block 53.

[0094] The emotion model and instinct model are supplied with the resultof each recognition and a record of behaviors and manage the values ofemotion and instinct. The behavior model can refer to the values ofemotion and instinct.

[0095] The short-term memory 55 is a functional module to hold, for ashort term, a target and event recognized in the environment by thevisual, audio and tactile recognition blocks 51, 52 and 53. It stores animage supplied from the CCD camera for a short term of about 15 seconds,for example.

[0096] The long-term memory 56 is used to hold, for a long term,information acquired through learning such as the name of a thing. Thelong-term memory 56 memorizes an internal-status change associativelywith an external stimulus applied to a behavior module, for example.

[0097] The behaviors of the robot 1 include mainly “reflexive behavior”implemented by a reflexive SBL 59, “situated behavior” implemented by asituated behaviors layer (SBL) 58 and “deliberative behavior”implemented by a deliberative layer 57.

[0098] The deliberative layer 57 makes a long-term plan of behaviors ofthe robot 1 on the basis of the stored contents of the short- andlong-term memories 55 and 56.

[0099] A deliberative behavior is to be done by inference and schemingfor realization of the inference according to a given situation oruser's instruction. Since the inference and scheming take a longer timefor processing and computation than the time of reaction for maintainingthe interaction between the robot 1 and user, so the robot 1 infers andschemes the realization of the inference by making reflexive andsituated behaviors on the real-time basis while making responsivereactions.

[0100] The situated behaviors layer (SBL) 58 controls a behaviorresponsive to a situation of the robot 1 on the basis of the contentsstored in the short- and long-term memories 55 and 56 and internalstatus managed by the internal-status manager (ISM) 54.

[0101] The situated behaviors layer 58 has a state machine for each ofbehaviors, and categorizes the results of recognition of externalinformation supplied from the sensors according to the previousbehaviors and situations to have the robot 1 show a behavior. Also, thesituated behaviors layer 58 implements a behavior intended to hold theinternal status within a certain range (also called “homeostasisbehavior”). If the internal status exceeds a designated range, thesituated behaviors layer 58 activates the behavior of the robot 1 sothat a behavior to return the internal status to within the range willeasily take place (actually, it selects a behavior with considerationgiven to both the internal status and external stimuli). The situatedbehavior takes a long time in response than the reflexive behavior aswill be described later.

[0102] The reflexive SBL (situated behaviors layer) 59 is a functionalmodule to have the robot 1 behave reflexively to an external stimulusrecognized by the aforementioned visual, audio and tactile recognitionblocks 51, 52 and 53.

[0103] Basically, the reflexive behavior is supplied directly withresults of recognition of external stimuli supplied from the sensors,and categorizes the information to select an output behavior directly.For example, a behavior to instantly evade a obstacle detected shoulddesirably be implemented as a reflexive behavior.

[0104] In the robot 1 according to the present invention, the short-termmemory 55 consolidates the results of recognition from the visual, audioand tactile recognition blocks 51, 52 and 53 for temporal and spatialconsistency among the perceptions and supplies the perceptions of eachobject in the environment as short-term memories to the situatedbehaviors layer (SBL) 58 and the like. Also, the short-term memory 55supplies the result of recognition of external stimulus informationsupplied from the sensors directly to the reflexive SBL 59.

[0105] Generally, if the robot 1 is controlled by only the situatedbehaviors layer (SBL) 58 and deliberative SBL 57, selecting a behaviortaking various conditions in consideration, it will show a slowerresponse to any stimuli slowly. On this account, the behavior controlsystem 50 of the robot 1 is constructed according to the presentinvention for the situated behaviors layer (SBL) 58, deliberative SBL 57and the reflexive SBL 59 which decides to implement a behavior under asingle sensor condition to go through separate processes in order todecide implementation of a behavior taking various conditions (internalstatus and external stimuli) in consideration.

[0106] Note that the aforementioned deliberative SBL 57, situatedbehaviors layer (SBL) 58 and reflexive SBL 59 can be stated ashigher-order application programs independent upon the hardwareconfiguration of the robot 1. The configuration-dependent actions andreactions controller 60 controls directly the hardware of the robot 1for driving the aforementioned actuators A₂, A₃, . . . according toinstructions from the higher-order applications (behavior modules called“schema”) for changing environment around the robot 1.

[0107] Each of the functional modules in the behavior control system 50of the robot 1 as shown in FIG. 4 is constructed as an object. Eachobject transfers data (property) and inherit a program (method) havingbehavior of a thing stated therein by a message communication and aninter-object communication using a common memory. Each object will beexplained will be described herebelow with reference to FIG. 5 showingan object construction in the behavior control system 50.

[0108] The visual recognition block 51 is composed of three objects“Face Detector”, “Multi-color Tracker” and “Face Identify”. The FaceDetector is an object which detects the face area in an image frame andoutputs the result of recognition to the Face Identify object. TheMulti-color Tracker is an object which recognizes a color and outputsthe result of recognition to the Face Identify and Short-term Memory (anobject included in the short-term memory 55) objects. The Face Identifyis an object which identifies a person by searching an on-handdictionary for a detected face image and outputs ID information aboutthe person along with information about the position and size of theface image area to the Short-term Memory object.

[0109] The audio recognition block 52 is composed of two objects “AudioRecog” and “Speech Recog”. The Audio Recog is an object which receivesaudio (speech) data from the audio input unit such as a microphone,extracts a feature of the audio data and detects a speech section. Itoutputs a feature amount of the audio data in the speech section anddirection of sound source to the Speech Recog and Short-term Memoryobjects. The Speech Recog is an object which recognizes a speech usingthe audio feature supplied from the Audio Recog object and a speech andsyntax dictionaries and outputs a set of recognized words to theShort-term Memory object.

[0110] The tactile recognition block 53 includes an object called“Tactile Sensor” which recognizes an input from the touch sensor andoutputs the result of recognition to the Short-term Memory object and anInternal-status Manager (ISM) object which manages the internal status.

[0111] The Short-term Memory (STM) is an object included in theshort-term memory 55. It is a functional module to hold, for a shortterm, a target and event recognized in the environment by each object inthe aforementioned recognition system (for example, storing an inputimage from the CCD for a short term of about 15 seconds). Itperiodically gives a notification of an external stimulus to a SituatedBehaviors Layer (SBL) as an STM client.

[0112] The objects in the behavior control system 50 includes aLong-term Memory (LTM). The Long-term Memory (LTM) is an object includedin the long-term memory 56, and it is used to hold, for a long term,information acquired through learning such as the name of a thing andthe like. The Long-term Memory can associatively store a change of theinternal status in a behavior module due to an external stimulus, forexample.

[0113] The Internal-status Manager (ISM) is an object included in theinternal-status manager 54. It manages several emotions includinginstinct and affect in the form of mathematical models. Morespecifically, it manages the internal status such as the instinct andemotion of the robot 1 on the basis of an external stimulus (ES)recognized by each of the objects in the aforementioned recognitionsystem.

[0114] The Situated Behaviors Layer (SBL) is an object included in thesituated behaviors layer (SBL) 58. That is, it is an object as a clientof the Short-term Memory (=STM)). It periodically has a notification ofinformation about external stimuli (target and event) from theShort-term Memory, and selects a schema, namely, a behavior module toperform. The SBL will be described in detail later.

[0115] A Reflexive SBL is included in the reflexive SBL 59, andimplements reflexive and direct motions/sounds/leds of the bodily unitsof the robot 1 in response to an external stimulus recognized by each ofthe objects included in the aforementioned recognition system. Forexample, it provides a behavior to instantly evade a obstacle detected.

[0116] As above, the Situated Behaviors Layer (SBL) object selects abehavior on the basis of an external stimulus, change of the internalstatus, etc. On the other hand, the Reflexive. SBL provides a reflexivebehavior in response to an external stimulus. Since these two objectsselect behaviors independently of each other, the robot 1 performsbehavior modules (schemata) selected by the objects because of aconflict between hardware resources in the robot 1. On this account, aResource Manager object is included in the behavior control system 50.This object arbitrates the competition between the hardware sources whenthe Situated Behaviors Layer and Reflexive SBL select behaviors,respectively. It notifies each object implementing a behavior of abodily unit of the robot 1 of the result of arbitration, and thus therobot 1 is driven.

[0117] In addition, there are provided “Sound Performer”, “MotionController” and “LED Controller”. They are objects which implementactions of bodily units of the robot 1. The Sound Performer objectoutputs a sound or speech. It synthesizes a sound correspondingly to atext and command supplied from the Situated Behaviors Layer (SBL) viathe Resource Manager, and outputs the sound from the speaker on therobot 1. The Motion Controller object activates the actuators A₂, A₃, .. . of the robot 1. When supplied with a command to move the hand or legfrom the Situated Behaviors Layer (SBL) via the Resource Manager, itcomputes an angle of a corresponding joint. The LED Controller objectturns on or off an LED (light-emitting diode). Supplied with a commandfrom the Situated Behaviors Layer (SBL) via the Resource Manager, itturns on or off the LED.

[0118]FIG. 6 schematically illustrates a mode of situated behaviorcontrol by the aforementioned situated behaviors layer (SBL) 58(including the reflexive SBL 59). A result of environment recognition bythe recognition system (visual, audio and tactile recognition blocks 51,52 and 53) is supplied as an external stimulus to the situated behaviorslayer (SBL) 58. Also a change of the internal status, corresponding tothe result of environment recognition by the recognition system (visual,audio and tactile recognition blocks 51, 52 and 53) is supplied to thesituated behaviors layer (SBL) 58. Then, the situated behaviors layer(SBL) 58 can select a due behavior through judging the situation on thebasis of an external stimulus and internal-status change.

[0119] The situated behaviors layer (SBL) 58 has a state machine foreach of behavior modules, and categorizes the results of recognition ofexternal stimuli supplied from the sensors depending upon the previousbehaviors and situations to have the robot 1 show a behavior. Each ofthe behavior modules is stated as a schema having a “monitor” functionto judge the situation on the basis of an external stimulus and internalstatus and an “action” function to implement a state transition (statemachine) incidental to implementation of a behavior. FIG. 7schematically illustrates how the situated behaviors layer (SBL) 58 iscomposed of a plurality of schemata.

[0120] The situated behaviors layer (SBL) 58 (more strictly saying, aportion of the situated behaviors layer 58 that controls ordinarysituated behaviors) is formed as a tree structure in which the pluralityof schemata is hierarchically linked to each other. It totally judges amore optimum schema on the basis of an external stimulus andinternal-status change to control a behavior. The tree includes behaviormodels obtained through mathematization of ethological situatedbehaviors, for example, and a plurality of sub trees (or branches) suchas sub trees for expressing affect.

[0121] Supposing interactions, as behaviors of the robot 1, with theuser or human being, the tree system of the situated behaviors layer(SBL) 58 is formed herein with reference to human behaviors actuallyfound.

[0122] The typical behaviors performed by a person wanting to dialoguewith someone are assumed to be a sequence of simple independent ones asfollows:

[0123] (a) He or she searches a partner (target);

[0124] (b) He approaches the partner (target); and

[0125] (c) He dialogues with the partner (target).

[0126] An example tree structure of the situated behaviors layer (SBL)58, constructed for implementing the above behaviors, will be describedherebelow with reference to FIG. 8.

[0127] As shown in FIG. 8, the situated behaviors layer (SBL) 58 isconstructed of a “Root” schema located at the top level and at which itis notified of an external stimulus from the short-term memory 55, andother schemata located at levels below the top level. The schemata aredisposed in a sequence of categories from abstract to concrete. Morespecifically, beneath the “Root” schema, there are disposed schemata“Search Target”, “Approach Target” and “Dialogue” at the same level.Thus, a behavior algorithm is modeled. Below the Search target schema,there are disposed schemata “Look To” and “Look For” for concretebehaviors to search a target. Similarly, below the Approach Targetschema, there are disposed schemata “Tracking” and “Approach” forconcrete behaviors to approach the target. Below the Dialogue schema,there are disposed schemata “Tracking” and “Chat” for concrete behaviorsto dialogue with the target. It should be noted that a schema may bedisposed in a different sub tree as the “Tracking” schema is so.

[0128] Each of the schemata in the present invention has a function toimplement a behavior uniquely and it is highly independent of the otherschemata. Thus, when designing a schema, it is possible to focus on onlythe feature of a behavior (motion or action) being designed. Also, it isnot necessary to give any consideration to any other requirementspossibly taking place when the schema actually works in the treestructure. Actually, each schema has a focus as action-relatedinformation and can refer to a thing or person in the environment aroundthe robot 1, for example, which will be a specific target when theschema works. There exists minimum necessary information for the schemato perform, and the aforementioned focus is formed from suchinformation. It should be noted that the schemata may have differentfocuses, respectively.

[0129] Since each of the schemata is dependent upon information includedin its focus, it is independent of the tree structure in which itselfand other schema or schemata are disposed. However, each of the schematamay implement a behavior in collaboration with any other schema orschemata as will further be described later.

[0130] For example, the Tracking schema tracks the position of a targetor observes the path of the target, and cause the robot 1 to turn theface (head) toward the target. In case the target is a person in theenvironment around the robot 1, when the Tracking schema is carried out,the robot 1 continuously swings the head unit 3 to the right and leftcorrespondingly to the relative positional relation between itself andtarget, thereby permitting to keep the head unit 3 in a position italways faces the target rightly. A symbol to identify a targetrecognized by the visual recognition block 51 in the behavior controlsystem 50 can be used as the focus of the Tracking schema. For example,in case the visual recognition block 51 associates ID information witheach recognized thing (or person) or a detected event, the IDinformation can be used as the focus.

[0131]FIG. 9 shows the tree structure shown in FIG. 8, having addedthereto focus information for each schema. In the example shown in FIG.9, almost all the schemata need no other focus information than IDinformation (target ID) about a target or a person in the environmentaround the robot 11 who is the partner in dialogue but only the Dialogueand Chat schemata-need focus information showing the topic of thedialogue. Since the Look For schema needs no specific target, it has nofocus. That is, the Look For schema can search any target in theenvironment around the robot 1.

[0132] Also, as seen from FIG. 9, there is no restriction by coherencebetween information pieces included in the focus. In other words, eachtarget ID can deal with different targets (thing or person) in theenvironment around the robot 1. If there is no such coherence betweenthe information pieces in the focus, a total behavior of the robot 1will be a simple combination of action implemented by the schemata. Forexample, in case the low-order (child) Tracking and Approach schematatake different targets T₁ and T₂ as their foci, for example, in theApproach Target behavior as shown in FIG. 10, the robot 1 will walktoward the target T₂ while tracking the target T₁ as shown in FIG. 11.

[0133] Each schema in the present invention has an interface fortransfer of data and control signal between the schemata, and theschemata may be recombined in the tree structure for implementation of acomplicated behavior. Also, each schema can have another schema tointeract with child schemata, that is, the rest of the tree structure.Such a schema will be referred to as a “parent schema” or “hub schema”hereunder.

[0134] The parent schema defines a connection pattern in which childschemata are connected or the child schemata to some extent. On thecontrary, each of the child schema is only subject to the connectionpattern defined by the parent schema, and thus works independently ofthe parent schema or works under the control of the patent schema. Forexample, the schemata can exchange focus information between them viatheir interfaces, and also the Approach target schema, for example, canset a focus for the Tracking schema when the Approach Target schema cancontrol the Tracking schema. In this case, the parent schema monitorsthe focus the child schemata are looking to, and controls the behaviorsimplemented by the child schemata, if requested, by setting foci for thechild schemata, for example. FIG. 12 shows an example setting of theTarget T₁ as foci of the Tracking and Approach schemata as the childschemata of the Approach schema as a patent schema.

[0135] As above, each schema can be a terminal node, that is, a childschema, and also a hub node, that is, a parent schema. Also, a parentschema can defines a connection pattern in which the child schemata areconnected. The connection pattern will be described in detail herebelow.

[0136] In the example shown in FIG. 7, a typical pattern in which thechild schemata are connected, namely, an instruction pattern, for eachsub tree. The connection pattern will be described in sequence.

[0137] First, the Search Target schema is a parent schema for the LookFor and Look To schemata. These three schemata form together a sub treeof “Search Target” behavior. The Look For schema is to make a behaviorof searching (for something). It visually searches the face of a person,for example. The schema uses the head unit 3 of the robot 1 to scanthrough the environment for searching the face of the person. It shouldbe noted that the schema may of course search any other target such as athing. The Look To schema controls the robot 1 to turn around inresponse to a sound (look in the direction of the sound). For example,when a voice is heard, the schema controls the robot 3 to turn the headunit 3 toward the voice. Thus, the Look For and Look To schemata areindependent of each other, and can implement a behavior independently ofthe other schema.

[0138] On the other hand, in the sub tree of Search Target behavior, theSearch Target schema uses the Look For and Look To schemata as childschemata in order to implement a more complicated behavior. The childschemata work independently of each other without being interfered with(controlled) by the parent schema (Search Target). In other words, incase the sub tree of Search Target behaviors is being executed, therobot 1 is caused by the Look For schema to continuously swing the headunit 3 to the right and left until the face of the person as the targetis detected. Then, the robot 1 ceases to swing the head unit 3 so. Atthe same time, the robot 1 is caused by the Look To schema to turn thehead unit 3 toward a voice heard, if any, in the environment around it.

[0139] As above, the Search Target schema works not to control the childschemata but as a neutral hub schema. Such a connection pattern iscalled “OR type pattern” herein. Because of this OR type pattern inwhich child schemata are connected, an arbitrary child schema canimplement a behavior at an arbitrary time without being acted on by anyother schema. The sub tree of Search Target behaviors in this case isshown in FIG. 13.

[0140] Note that according to the present invention, it is possible toimplement the above-mentioned complicated behavior as compared with asimple behavior by one schema only by defining a pattern in which thechild schemata are connected without recombining the schemata adaptivelyto any specific situation.

[0141] The Approach Target schema is a parent schema of the Tracking andApproach schemata. These three schemata form together a sub tree of“Approach Target” behavior. The Tracking schema is to track the positionof a target or observe the moving path of the target, and cause therobot 1 to turn the face (head unit) toward the target. The Approachschema is a schema which causes the robot 1 to walk toward the target.When the target is a person existing in the environment around the robot1 for example, the Approach schema causes the robot 1 to walk toward theperson to within a predetermined distance from the person. Thus, theTracking and Approach schemata are independent of each other, and canimplement a behavior independently of the other schemata.

[0142] In the sub tree of Approach Target behavior, however, theApproach Target schema uses the Tracking and Approach schemata as childschemata to implement a more complicated behavior. Especially, theApproach Target schema checks whether the child schemata workconsistently with each other to assure that:

[0143] (a) All the child schemata work in collaboration with each otherand

[0144] (b) All the child schemata have the same focus, for example, thesame target.

[0145] In other words, when the sub tree of Approach Target behaviors isexecuted and the target is a person in the environment around the robot1, for example, the robot 1 is caused by the Tracking schema tocontinuously swing the head unit 3 to the right and left correspondinglyto the relative positional relation between itself and target andbehaviors of the person and itself, thereby permitting to keep the headunit 3 in a position it always faces the target rightly. At the sametime, the robot 1 is caused by the Approach schema to walk toward theperson.

[0146] The Approach Target schema controls the child schemata as above.Such a connection pattern is referred to as “AND type pattern” herein.In this AND type pattern of connection, all the child schemata work incollaboration with each other. The sub tree of Approach Target behaviorsin this case is shown in FIG. 14.

[0147] Note that according to the present invention, it is possible toimplement the above-mentioned complicated behavior as compared with asimple behavior by one schema only by defining a pattern in which thechild schemata are connected without recombining the schemata adaptivelyto any specific situation.

[0148] Also, in the sub tree of Approach Target behavior, all the childschemata connected in the AND type pattern have the same focus. FIG. 15shows an example setting of a target T₂ as the focus of the Tracking andApproach schemata being child schemata by the Approach target schemabeing the parent schema of these child schemata. In this case, the robot1 shows a behavior of walking toward the target T₂ while tracking thetarget T₂ as shown in FIG. 16.

[0149] The Dialogue schema is the parent schema of the Tracking and Chatschemata. These three schemata form together a sub tree of Dialoguebehaviors. The pattern in which the child schemata in the sub tree ofDialog behaviors are connected is of the AND type and the sub treeitself is similar to that of the Approach Target. So, the Dialoguebehavior sub tree will not be explained any longer.

[0150] As above, the illustrated example is a simulation of a personwanting to dialogue with some one. The behavior of the robot 1 isimplemented by sub trees of Search Target behaviors, Approach Targetbehaviors and Dialogue behaviors. This complicated behavior shouldinclude connection patterns that can be performed successively. Morespecifically, when the robot 1 goes to have a dialogue with a person,the person should be within a predetermined reach of the robot 1. To benear the person, the robot 1 has to approach the person. The personshould be within the environment around the robot 1, and the robot 1 hasto search (look for) the person. In other words, the behaviors performedby a person wanting to dialogue with someone are stated a sequence ofsimple independent ones as follows:

[0151] (a) He or she searches a partner (target);

[0152] (b) He approaches the partner (target); and

[0153] (c) He dialogues with the partner (target).

[0154] The above connection pattern is referred to as “SEQUENCE typepattern” herein. A tree structure of all these behaviors is shown inFIG. 17. With this SEQUENCE type pattern, the robot 1 can start abehavior at any of different time points corresponding to the currentsituation. For example, when a person with which the robot 1 is going tohave a dialogue is near the robot 1, the Approach Target behaviors canbe omitted.

[0155] Note that the connection patterns such as the OR, AND andSEQUENCE type patterns are referred to herein just by way of example andthe present invention is not limited such connection patterns.

[0156] A schema may be a terminal node in a tree structure while being ahub node in another tree structure. The interface of the schema sendsinformation such as data and control signal from the schema toautomatically accommodate different situations.

[0157] Each of the schemata may be designed to detect child schemata, ifany, and define a specific control pattern for the child schemata, ordesigned as a “pure” terminal node. In the latter case, when the childschemata are disposed, a default control pattern, for example, OR typepattern, is used.

[0158] A sub tree of Approach Target behaviors is taken as an examplefor explanation of how an Approach schema is used as a hub schema in thetree structure. As mentioned above, the Approach schema is a one whichcontrols the robot 1 to walk toward a target until the target, forexample, a person in the environment is within a predetermined distancefrom the robot 1. In such a behavior, however, since no consideration isgiven to any obstacle on the path to the target, the robot 1 willpossibly collide with the obstacle, disabling the robot 1 from arrivingat the target.

[0159] On this account, a Navigation schema to have the robot 1 evade anobstacle may be included in the behavior control system 50 to improvethe performance of the robot 1. The Navigation schema is to navigate thedirection in which the robot 1 moves. It checks whether there exists anyobstacle in a direction in which the robot 1 moves, and if it hasdetected an obstacle, it indicates an alternative path, for example, apath evading the obstacle. The Navigation schema may be disposed as achild schema of the Approach schema without having to re-design theApproach schema. Just with the Navigation schema connected in a defaultcontrol panel, for example, in the OR type pattern, by the Approachschema, the Approach and Navigation schemata can work in collaborationwith each other. FIG. 18 shows a sub tree of Approach Target behaviorsin this case. As a result, the robot 1 is caused by the Tracking schemato track a specific person while it is caused by the Approach schema towalk toward the person, as shown in FIG. 19. If an obstacle Ob isdetected, the robot 1 is caused by the Navigation schema to evade theobstacle Ob, for example.

[0160] As having previously been described, the situated behaviors layer(SBL) 58 in the present invention is formed to have a tree structure inwhich a plurality of schemata is connected hierarchically to each otherso that the schemata are highly independent of each other to uniquelyperform a behavior. Thus, the tree structure can be recombined easily.With such a recombination, the parent schema can define a connectionpattern for child schemata such as OR, AND or SEQUENCE type pattern forimplementation of a variety of behavior patterns.

[0161] Also, since the schemata are highly independent of each other, anew child schema can be added without having to rewrite the schemata,whereby a new action or function can be added to the robot 1.

[0162] In the foregoing, the present invention has been described indetail concerning certain preferred embodiments thereof as examples withreference to the accompanying drawings. However, it should be understoodby those ordinarily skilled in the art that the present invention is notlimited to the embodiments but can be modified in various manners,constructed alternatively or embodied in various other forms withoutdeparting from the scope and spirit thereof as set forth and defined inthe appended claims.

[0163] Although the embodiment of the present invention has beendescribed concerning the bipedal walking robot in the foregoing, thepresent invention is applicable to a robot which acts adaptively to theenvironment and internal status. Namely, the present invention is notlimited to any bipedal walking robots and other legged robots.

What is claimed is:
 1. A robot apparatus comprising: means forrecognizing the environment around the robot apparatus; means formanaging an internal status of the robot apparatus according to therecognized environment and/or a behavior of the robot apparatus; and aplurality of performing means for performing behaviors of the robotapparatus according to the environment and/or internal status, each ofthe behaviors being performed respectively, wherein the plurality ofperforming means are constructed by tree-structure according to levelsof the behaviors of the robot apparatus, and lower-order ones of theperforming means in the tree-structure perform behaviors of the robotapparatus based on behavior information which is set by higher-orderones of the performing means in the tree-structure where the lower-orderones of the performing means are connected.
 2. The apparatus as setforth in claim 1, wherein the behavior information includes informationabout targets of the behaviors.
 3. The apparatus as set forth in claim1, wherein the behavior information is what the behaviors are.
 4. Theapparatus as set forth in claim 1, wherein the plurality of performingmeans can have lower-order ones of the performing means connectedthereto.
 5. A robot apparatus comprising: means for recognizing theenvironment around the robot apparatus; means for managing an internalstatus of the robot apparatus according to the recognized environmentand/or a behavior of the robot apparatus; and a plurality of performingmeans for performing behaviors of the robot apparatus according to theenvironment and/or internal status, each of the behaviors beingperformed respectively, wherein the plurality of performing means areconstructed by tree-structure according to levels of the behaviors ofthe robot apparatus, higher-order ones of the performing means in thetree-structure are able to set a connection pattern of lower-order onesof the performing means in the tree-structure, and the lower-order onesof the performing means perform behaviors according to, the connectionpattern.
 6. The apparatus as set forth in claim 5, wherein theconnection pattern indicates a behavior sequence of the plurality oflower-order ones of the performing means.
 7. The apparatus as set forthin claim 5, wherein the connection pattern indicates that the pluralityof lower-order ones of the performing means are caused to movesimultaneously.
 8. The apparatus as set forth in claim 5, wherein theconnection pattern indicates that each of the lower-order ones of theperforming means performs behaviors respectively.
 9. The apparatus asset forth in claim 5, wherein the plurality of performing means can havelower-order ones of the performing means connected thereto.
 10. Abehavior controlling method for a robot apparatus, wherein the methodcomprising a plurality of performing modules for performing behaviors ofthe robot apparatus respectively according to recognized environmentaround the robot apparatus, and/or an internal status of the robotapparatus according to the recognized environment and/or a behavior ofthe robot apparatus, the plurality of performing modules are constructedby tree-structure according to levels of the behaviors of the robotapparatus, and lower-order ones of the performing modules in thetree-structure perform behaviors of the robot apparatus based onbehavior information which is set by higher-order ones of the performingmodules in the tree-structure where the lower-order ones of theperforming modules are connected.
 11. The method as set forth in claim10, wherein the behavior information includes information about targetsof the behaviors.
 12. The method as set forth in claim 10, wherein thebehavior information is what the behaviors are.
 13. The method as setforth in claim 10, wherein the plurality of performing modules can havelower-order ones of the performing modules connected thereto.
 14. Abehavior controlling method for a robot apparatus, wherein the methodcomprising a plurality of performing modules for performing behaviors ofthe robot apparatus respectively according to recognized environmentaround the robot apparatus, and/or an internal status of the robotapparatus according to the recognized environment and/or a behavior ofthe robot apparatus, the plurality of performing modules are constructedby tree-structure according to levels of the behaviors of the robotapparatus, higher-order ones of the performing modules in thetree-structure are able to set a connection pattern of lower-order onesof the performing modules in the tree-structure, and the lower-orderones of the performing modules perform behaviors according to theconnection pattern.
 15. The method as set forth in claim 14, wherein theconnection pattern indicates a behavior sequence of the plurality oflower-order ones of the performing modules.
 16. The method as set forthin claim 14, wherein the connection pattern indicates that the pluralityof lower-order ones of the performing modules are caused to movesimultaneously.
 17. The method as set forth in claim 14, wherein theconnection pattern indicates that each of the lower-order ones of theperforming modules performs behaviors respectively.
 18. The method asset forth in claim 14, wherein the plurality of performing modules canhave lower-order ones of the performing modules connected thereto.